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In the five categories, you can mouse over them and see a description. For example, in firearms, you gain more rating points by shooting the enemy, plain and simple. You gain stamina by recovering from exertion. Therefore, you need to become fatigued to gain points. In morale, same kinda thing.
Now the unit XP is some sort of aggregate of all these five skills.
The commander gains XP by leading a unit that has to recover from fatigue or morale or something.
When a commander gets enough XP, he gets a promotion.
The commander does provide a boost to a units XP while he is the commander.
One very important point on brigade commanders is their command rating has to be above the unit's efficiency or the effective efficiency is capped. Shuffling officers correctly can add a star to a couple brigades.
Good Luck.
To rank up Divisional and Corps commanders, they have to be commanding a brigade or otherwise get kills. The Divisional commander is a bit of a pit for officers, since there's exactly one time where they can get an appreciable amount of experience - from combining brigades and doing well with that combine brigade. Also; apparantly you can help rank up your Corps Commander by involving him in a melee. But that's a bit risky, and I haven't really tested that out.